/Analysis and Removal of Artifacts in 3-D LADAR Data

Analysis and Removal of Artifacts in 3-D LADAR Data

John Tuley, Nicolas Vandapel and Martial Hebert
Conference Paper, IEEE International Conference on Robotics and Automation, pp. 2203 - 2210, April, 2005

Download Publication (PDF)

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.


Errors in laser based range measurements can be divided into two categories: intrinsic sensor errors (range drift with temperature, systematic and random errors), and errors due to the interaction of the laser beam with the environment. The former have traditionally received attention and can be modeled. The latter in contrast have long been observed but not well characterized. We propose to do so in this paper. In addition, we present a sensor independent method to remove such artifacts. The objective is to improve the overall quality of 3-D scene reconstruction to perform terrain classification of scenes with vegetation.

BibTeX Reference
author = {John Tuley and Nicolas Vandapel and Martial Hebert},
title = {Analysis and Removal of Artifacts in 3-D LADAR Data},
booktitle = {IEEE International Conference on Robotics and Automation},
year = {2005},
month = {April},
pages = {2203 - 2210},